CN113246747A - Control method for hill start - Google Patents
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- CN113246747A CN113246747A CN202110735616.3A CN202110735616A CN113246747A CN 113246747 A CN113246747 A CN 113246747A CN 202110735616 A CN202110735616 A CN 202110735616A CN 113246747 A CN113246747 A CN 113246747A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 5
- 230000009193 crawling Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
- B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a control method for hill starting, which comprises the following steps: step 1, judging whether a vehicle is in a stop state and is ready for starting, and if so, executing the next step; step 2, judging whether a starting intention exists, and if so, executing the next step; step 3, judging whether hill starting exists according to the backward slip condition of the vehicle, and executing the next step if the hill starting exists; step 4, entering ramp creep torque control; and 5, retreating the slope to creep the torque control when the set conditions are met. The control method for starting the ramp does not need to equip the vehicle with a gradient sensor, is favorable for reducing the vehicle cost, adopts a torque control mode to be simpler and more practical, and improves the safety and the comfort of the ramp driving.
Description
Technical Field
The invention relates to the field of automobile drivability, in particular to a control method for automobile hill starting.
Background
Hill-hold re-starting is a common condition in which a vehicle is traveling. When the vehicle is on a slope and the brake is restarted, the vehicle risks rolling backwards due to gravity, and the vehicle is required to have a slope auxiliary function in order to prevent the vehicle from rolling backwards. Typical ramp aids fall into two forms:
the first is called as anti-slide slope, when the driver releases the brake, the driving computer controls the vehicle to be stationary on the slope by controlling the hydraulic brake or the torque output of the motor, and the function and effect are similar to the HHC function of the chassis.
The second is hill start, when the driver releases the brake, the driving computer controls the torque output of the motor, so that the vehicle can start directly on the hill without stepping on the accelerator, and the effect similar to the creeping on the flat road is achieved.
In the first or second type, if the vehicle is equipped with a gradient sensor, the slope resistance can be calculated, corresponding pre-torque is applied to counteract the slope resistance at the moment of releasing the brake, and the torque is adjusted through PID in the following control.
The invention aims at the hill start function without a gradient sensor, the control method belongs to the variant of D (differential) control in PID control, and the calculation method can ensure that a vehicle can start stably from a static state and stably run on a hill, and can obtain good driving performance and comfort on different slopes.
Disclosure of Invention
The invention aims at realizing the hill start function of a vehicle without a slope sensor, and the control method belongs to the variant of D (differential) control in PID control, so that the vehicle can start stably from a static state and stably run on a slope, and good driving performance and comfort can be obtained on different slopes.
In order to achieve the purpose, the invention adopts the technical scheme that: a hill start control method includes the following steps: step 1, judging whether a vehicle is in a stop state and is ready for starting, and if so, executing the next step; step 2, judging whether a starting intention exists, and if so, executing the next step; step 3, judging whether hill starting exists according to the backward slip condition of the vehicle, and executing the next step if the hill starting exists; step 4, entering ramp creep torque control; and 5, retreating the slope to creep the torque control when the set conditions are met.
In the step 1, the judgment standard is that the following three conditions are simultaneously met: 1) the speed or the motor speed value is 0 or lower than a set value; 2) the brake is stepped on; 3) the gear is in a driving gear.
In the step 2, the judgment standard is that the following two conditions are simultaneously met: 1) the brake and the hand brake are released; 2) the gears are in D gear or R gear.
In the step 3, the judgment criterion is that any one of the following conditions is satisfied: 1) the gear is D gear, and the rotating speed of the motor is a negative value; 2) the gear is the R gear, and the rotating speed of the motor is a positive value.
In the step 4, the control method of the ramp creep torque control comprises the following steps: and acquiring the target motor rotating speed acceleration and the actual motor rotating speed acceleration, calculating the difference between the target motor rotating speed acceleration and the actual motor rotating speed acceleration, and controlling the motor torque output through the difference so as to control the actual motor rotating speed acceleration to 0.
In step 4, the method for controlling the creep torque on the ramp includes the following steps:
1) establishing a target motor rotating speed acceleration MAP based on the motor rotating speed;
2) calculating the actual motor rotating speed acceleration through the motor rotating speed;
3) calculating the difference value of the rotating speed and the acceleration of the motor: Δ aN is arnreq-aNAct, where arn is the motor speed, arnreq is the target motor speed acceleration, and aNAct is the actual motor speed acceleration;
4) setting an initial torque value TqSet;
5) in the process of starting to drive on a hill, the required torque calculation formula is as follows:
TqRep＝MAX【(TqSet+f*△aN),0】+TqCrp；
wherein f is an adjusting coefficient, and Tqcrp is a creep torque value of the vehicle when the vehicle starts on a non-hill.
In the step 5, the judgment criterion of the exiting ramp creep torque control is that any one of the following conditions is satisfied: 1) the accelerator torque is greater than the ramp torque; 2) braking until the vehicle is static; 3) the speed of the vehicle is greater than the set crawling vehicle speed interval.
The set crawling vehicle speed interval is less than 5km/h-7 km/h.
The control method for starting the ramp does not need to equip the vehicle with a gradient sensor, is favorable for reducing the vehicle cost, adopts a torque control mode to be simpler and more practical, and improves the safety and the comfort of the ramp driving.
Drawings
The following is a brief description of the contents of each figure in the description of the present invention:
FIG. 1 is hill start control logic;
FIG. 2 target Motor speed acceleration MAP based on Motor speed
FIG. 3 is torque control and vehicle speed signals during a hill start.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.
The first step is as follows: and judging that the vehicle stops and preparing to start at any time. Three conditions need to be met, namely 1, judging that the vehicle is static through the speed or the rotating speed value of a motor, 2, stepping down the brake, and 3, enabling the gear to be in a driving gear;
the second step is that: and judging the starting intention of the driver, and confirming whether hill starting is performed or not through the change of the rotating speed of the motor. When the driver releases the hand brake and the brake, the driver thinks that the driver has the intention of starting. After the brake and the hand brake are released, if the gear is a D gear, the rotating speed of the motor is a negative value, or the gear is an R gear, and the rotating speed of the motor is a positive value, the vehicle is considered to have a slope, and therefore the vehicle is judged to be started on the slope.
The third step: after hill start is confirmed, torque control is performed according to the torque calculation method of the present invention. The control parameter of the method is the acceleration of the motor rotating speed N (hereinafter abbreviated as aN), namely the motor torque output is calculated and controlled according to the difference value of the target motor rotating speed acceleration (aNReq) and the actual motor rotating speed acceleration (aNAct), and the actual motor rotating speed acceleration is controlled to be 0 so as to achieve the stable running of the vehicle.
The specific control method is as follows (only in the case of D gear):
establishing a target motor rotating speed acceleration MAP based on the motor rotating speed;
calculating the actual motor rotating speed acceleration through the motor rotating speed;
calculating the difference value of the rotating speed and the acceleration of the motor:
△aN＝aNReq-aNAct
an initial torque value TqSet is set, which can be calibrated.
In the process of starting to drive on a hill, the required torque calculation formula is as follows:
TqRep＝MAX【(TqSet+f*△aN),0】+TqCrp
wherein:
f is an adjusting coefficient and can be calibrated.
Tqcrp is the creep torque value of the vehicle when starting off on a non-hill slope and is obtained through a torque MAP based on the vehicle speed.
Remarking:
by adjusting the target motor rotating speed acceleration MAP, the driving speed of the vehicle after hill start can be controlled to be between 2km/h and 4km/h (smaller than the creeping speed of a flat road), the larger the hill is, the smaller the vehicle speed is, and the vehicle speed can be quickly and stably followed when the slope changes in real time.
The fourth step: if the driver steps on the accelerator in the process of driving on the hill, when the accelerator torque is larger than the actual torque, the driver quits the hill starting function (which means that the judgment is needed from the first step if the driver wants to reenter the hill starting function), and responds to the accelerator torque to realize the acceleration function.
If the driver does not step on the accelerator, when the vehicle runs from a ramp to a flat road, the vehicle speed is gradually increased, the aNReq is reduced to a negative value and is continuously reduced, so that TqSet + f × Δ aN tends to the negative value, at the moment, TqRep is TqCrp, the vehicle speed reaches the creeping vehicle speed of the flat road and is generally set to be 5km/h-7km/h, when the vehicle speed is detected to be more than or equal to the creeping vehicle speed of the flat road, the ramp starting function is quitted, the normal creeping function is entered, at the moment, TqRep is TqCrp, and the adjusting function of Δ aN is not responded.
As shown in fig. 3, an enable signal is set at 38s, which indicates that the driver releases the brake, detects that the rotating speed of the motor is less than 0, and enters hill start control; 38s-104s is slope creep control, the speed of the first half section is stably controlled between 2km/h-3km/h, the speed can be timely adjusted when the vehicle meets a pothole road surface, the second half section is the conversion from ascending to level road, the torque is reduced and the vehicle speed is increased along with the reduction of the gradient, and when the vehicle speed is increased to creep, the slope starting function is quitted and the normal creep working condition is entered.
Therefore, the hill start control can reliably control the vehicle, and improves the safety and the comfort of the hill-way driving.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (8)
1. A hill start control method is characterized by comprising the following steps:
step 1, judging whether a vehicle is in a stop state and is ready for starting, and if so, executing the next step;
step 2, judging whether a starting intention exists, and if so, executing the next step;
step 3, judging whether hill starting exists according to the backward slip condition of the vehicle, and executing the next step if the hill starting exists;
step 4, entering ramp creep torque control;
and 5, retreating the slope to creep the torque control when the set conditions are met.
2. The hill start control method according to claim 1, characterized in that: in the step 1, the judgment standard is that the following three conditions are simultaneously met: 1) the speed or the motor speed value is 0 or lower than a set value; 2) the brake is stepped on; 3) the gear is in a driving gear.
3. The hill start control method according to claim 1, characterized in that: in the step 2, the judgment standard is that the following two conditions are simultaneously met: 1) the brake and the hand brake are released; 2) the gears are in D gear or R gear.
4. The hill start control method according to claim 1, characterized in that: in the step 3, the judgment criterion is that any one of the following conditions is satisfied: 1) the gear is D gear, and the rotating speed of the motor is a negative value; 2) the gear is the R gear, and the rotating speed of the motor is a positive value.
5. The hill start control method according to claim 1, characterized in that: in the step 4, the control method of the ramp creep torque control comprises the following steps: and acquiring the target motor rotating speed acceleration and the actual motor rotating speed acceleration, calculating the difference between the target motor rotating speed acceleration and the actual motor rotating speed acceleration, and controlling the motor torque output through the difference so as to control the actual motor rotating speed acceleration to 0.
6. The hill start control method according to claim 1 or 5, characterized in that: in step 4, the method for controlling the creep torque on the ramp includes the following steps:
1) establishing a target motor rotating speed acceleration MAP based on the motor rotating speed;
2) calculating the actual motor rotating speed acceleration through the motor rotating speed;
3) calculating the difference value of the rotating speed and the acceleration of the motor: Δ aN is arnreq-aNAct, where arn is the motor speed, arnreq is the target motor speed acceleration, and aNAct is the actual motor speed acceleration;
4) setting an initial torque value TqSet;
5) in the process of starting to drive on a hill, the required torque calculation formula is as follows:
TqRep＝MAX【(TqSet+f*△aN),0】+TqCrp；
wherein f is an adjusting coefficient, and Tqcrp is a creep torque value of the vehicle when the vehicle starts on a non-hill.
7. The hill start control method according to claim 1, characterized in that: in the step 5, the judgment criterion of the exiting ramp creep torque control is that any one of the following conditions is satisfied: 1) the accelerator torque is greater than the ramp torque; 2) braking until the vehicle is static; 3) the speed of the vehicle is greater than the set crawling vehicle speed interval.
8. The hill start control method according to claim 7, characterized in that: the set crawling vehicle speed interval is less than 5km/h-7 km/h.
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| CN202110735616.3A CN113246747A (en) | 2021-06-30 | 2021-06-30 | Control method for hill start |
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| CN202110735616.3A CN113246747A (en) | 2021-06-30 | 2021-06-30 | Control method for hill start |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113619407A (en) * | 2021-09-10 | 2021-11-09 | 潍柴(扬州)亚星新能源商用车有限公司 | Crawling control method and device and vehicle |
| CN114179806A (en) * | 2021-12-14 | 2022-03-15 | 武汉理工大学 | Control method and system for hill start of automatic driving vehicle |
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Application publication date: 20210813 |